create a nodelet launch file

asked 2017-06-08 16:09:35 -0500

ashwath1993
68 ●12 ●13 ●19

updated 2017-06-09 15:39:50 -0500

I have managed to build a nodelet (tegra_stereo) and it is detected when I run "rospack plugins --attrib=plugin nodelet"

 image_view /home/ashwath/catkin_ws/src/image_pipeline/image_view/nodelet_plugins.xml
 image_proc /home/ashwath/catkin_ws/src/image_pipeline/image_proc/nodelet_plugins.xml
 image_rotate /home/ashwath/catkin_ws/src/image_pipeline/image_rotate/nodelet_plugins.xml
 image_publisher /home/ashwath/catkin_ws/src/image_pipeline/image_publisher/nodelet_plugins.xml
 stereo_image_proc /home/ashwath/catkin_ws/src/image_pipeline/stereo_image_proc/nodelet_plugins.xml
 depth_image_proc /home/ashwath/catkin_ws/src/image_pipeline/depth_image_proc/nodelet_plugins.xml
 tegra_stereo /home/ashwath/catkin_ws/src/tegra_stereo/nodelet_plugins.xml
 pointgrey_camera_driver/home/ashwath/catkin_ws/src/pointgrey_camera_driver/pointgrey_camera_driver/nodelet_plugins.xml

I want to run the nodelet. I couldn't find any helpful tutorial to do that. How do I start the nodelet? Or how to call the nodelet on another ros program?

Update 2 I could launch the nodelet using the following launch file.

<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager"/>
<node pkg="nodelet" type="nodelet" name="tegra" args="load tegra_stereo/tegra_stereo_proc 
standalone_nodelet" output="screen">
 </node>          
</launch>

This is what I get on rqt_graph standalone_nodelet doesn't connect to tegra_stereo

This is on my rostopic list

/clock
/kitti_stereo/left/camera_info 
/kitti_stereo/left/image_rect
/kitti_stereo/right/camera_info
/kitti_stereo/right/image_rect
/rosout
/rosout_agg
/standalone_nodelet/bond
/statistics
/stereo/cam0/image_rect
/stereo/cam0/image_rect/compressed
/stereo/cam0/image_rect/compressed/parameter_descriptions
/stereo/cam0/image_rect/compressed/parameter_updates
/stereo/cam0/image_rect/compressedDepth
/stereo/cam0/image_rect/compressedDepth/parameter_descriptions
/stereo/cam0/image_rect/compressedDepth/parameter_updates
/stereo/cam0/image_rect/theora
/stereo/cam0/image_rect/theora/parameter_descriptions
/stereo/cam0/image_rect/theora/parameter_updates
/stereo/cam1/image_rect
/stereo/cam1/image_rect/compressed
/stereo/cam1/image_rect/compressed/parameter_descriptions

/stereo/cam1/image_rect/compressed/parameter_updates /stereo/cam1/image_rect/compressedDepth /stereo/cam1/image_rect/compressedDepth/parameter_descriptions /stereo/cam1/image_rect/compressedDepth/parameter_updates /stereo/cam1/image_rect/theora /stereo/cam1/image_rect/theora/parameter_descriptions /stereo/cam1/image_rect/theora/parameter_updates /stereo/disparity /stereo/disparity_raw /stereo/disparity_raw/compressed /stereo/disparity_raw/compressed/parameter_descriptions /stereo/disparity_raw/compressed/parameter_updates /stereo/disparity_raw/compressedDepth /stereo/disparity_raw/compressedDepth/parameter_descriptions /stereo/disparity_raw/compressedDepth/parameter_updates /stereo/disparity_raw/theora /stereo/disparity_raw/theora/parameter_descriptions /stereo/disparity_raw/theora/parameter_updates /tf

The nodelet subscribes to the following topics but it does not work for me. There are no messages on the /stereo topics. Any insights on doing this? Thanks!

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Comments

What does rostopic info /kitti_stereo/left/image_rect and rostopic info /kitti_stereo/right/image_rect show? Also what does rosnode info on the rosbag node show?

lucasw ( 2017-06-09 12:07:12 -0500 )edit

Subscirbers : None for both left and right. Node [/play_1497032227332749755] rosnode info for the bag shows the default rosbag services and the publications of the rosbag. Connection is with /rosout only

ashwath1993 ( 2017-06-09 13:20:50 -0500 )edit

@lucasw, i added the update to the quesiton.

ashwath1993 ( 2017-06-09 15:40:47 -0500 )edit

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answered 2017-06-09 10:03:52 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

http://wiki.ros.org/nodelet/Tutorials... has a copy of this example nodelet launch file https://github.com/ros/common_tutoria...

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Yes, I have tried this. It launches the nodelet. I am not able to communicate with it. The nodelet subscribes to 2 image topics. When I play the rosbag with the 2 image topics, I can see the topics on rostopic list, but no output from the nodelet as no connection forms between the bag and nodelet

ashwath1993 ( 2017-06-09 11:07:24 -0500 )edit

Do you have a nodelet manager running?

<node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager"/>

lucasw ( 2017-06-09 14:07:17 -0500 )edit

I did that. It connects the nodes now. But one of the nodes dies. "[standalone_nodelet-2] process has died [pid 27763, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=standalone_nodelet" I don't understand the error

ashwath1993 ( 2017-06-09 15:32:07 -0500 )edit

You could make a new question that is focused on the tegra_stereo nodelet (and has that in the title so people familiar with it can see it). Other than that you would have to debug the nodelet yourself http://answers.ros.org/question/35171...

lucasw ( 2017-06-12 10:46:28 -0500 )edit

Also check the tegra_stereo github page for alternate branches or more up to date versions to try out.

lucasw ( 2017-06-12 10:49:59 -0500 )edit

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